Structural Design And Dynamic Characteristic Research Of An Actively Obstacle-avoiding Pipeline Robot

Pipeline is a very common way of medium transportation.Due to the long-term use of pipeline,corrosion,deformation and other natural damage will be caused.Because the pipeline is usually very narrow,the manual detection method can not be implemented,so the pipeline robot is designed to solve this problem.Pipeline robot is a kind of special robot equipped with a variety of sensor detection devices,and communication and other methods are used to feed back the results of the internal detection of the pipeline,so as to realize the automatic detection of the pipeline.The development of pipeline robots has been for a while,and many kinds of pipeline robots have been developed at home and abroad.Because there are many kinds of impurities in the pipeline,obstacle-surmounting or obstacle-avoiding performance is needed by pipeline robots.Because of the superior performance of the wheeled pipeline robot,but its obstacle-surmounting ability is insufficient,in order to solve this problem,an actively obstacle-avoiding wheeled pipeline robot is designed.Firstly,the structure of the pipeline robot is designed,including the selection of moving,driving and supporting sub units in the straight line unit and obstacle avoidance unit of the pipeline robot.Among them,the omni-directional wheel with two degrees of freedom is selected by the moving unit;the corresponding driving motors are selected by the driving units according to the calculation of relevant parameters;the supporting method in the direction of the vertical pipeline axis is selected by the supporting unit;and the detection unit is selected and designed.Then the structural characteristics and principle of the actively obstacle-avoiding pipeline robot are discussed,and the geometric characteristics of reducing,bending and obstacle avoidance are analyzed.Then the virtual prototype is built by SolidWorks,including the straight line unit,obstacle avoidance unit and the overall structure model.Then through the ADAMS simulation platform,the dynamic simulation analysis of the model completed by SolidWorks is carried out,and the obstacle avoidance performance,straight running ability and bending ability are simulated,and the corresponding simulation curve is obtained.Finally,the control system of the actively obstacle-avoiding pipeline robot is designed.Through the analysis of the system function,the hardware and software from the above control terminal,the communication to the lower control terminal are designed.Through the above design analysis and simulation calculation,the results show that: the actively obstacle avoiding pipeline robot can realize the straight running function and obstacle avoidance function in the pipeline with the diameter of 148-152mm;it can pass the bend with the minimum radius of curvature of 304mm;the control system can meet the power needs.